12/8/2015

SZABIST

ROBOTICS LAB REPORTS

GROUP:
Yasir Ali

1245139

Muhammad Ali Akbar

1245119

Imaaduddin Motan

1245113
|

INDEX
S.No
1.

2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.

Date
18/08/
15

Topic
DaNI Lab View
and DaNI

01/09/
15

DaNI
Ultrasonic
Transducer
DaNI motor
control
DaNI open
loop control
DaNI Closed
loop control
DaNI
Kinematics
Project
Abstract
Rhino robotic
Arm

08/09/
15
15/09/
15
21/09/
15
22/09/
15
13/10/
15
20/10/
15
27/10/
15
03/11/
15
10/11/
15
17/11/
15
19/11/
15

Rhino robotic
Arm
Rhino robotic
Arm
Rhino robotic
Arm
Lynx motion

Detail
Introduction to Robotics DANI, establishing
Communication between DaNI and Host
computer and ran it in a remote and autonomous
operation.
Introduction to SONAR working and its
interfacing with Lab View Environment.

Remarks

Pg No
3

Introduction of Actuator motor control

Running Actuator motor control algorithm in
open loop
Running Actuator motor control algorithm in
closedloop
Turning and rotating of DANI and drive it from
start to a certain goal.

Introduction to RHINO robot and performing

various task with it diverse robotic arm using
teach pendent.
Configuring Arm geometry, gravity compensate
and its XYZ co-ordinate system
Programming robotic arm through computer
language
Moving robotic in a closed environment through
teach pendent and computer Programming.
Introduction to Lynxmotion RIOS, a robotic arm
and its basic programming through lab View

Project
report/Result

7
8
10

11

13
14
15
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1. DaNI Lab View and DaNI

Objective:
Setup and test DaNI and a host computer. Test the software installation. Compare autonomous
and remote control. Investigate DaNIs mobility platform. Introduce the LabVIEW project and
the roles of development computer and onboard computer in robot software development and
control.

Theory:
There are two main programs, one for the host computer named Starter Kit 2.0 Host controller
and one for the sbRIO named Starter Kit 2.0 Robot Receiver. Open the Starter Kit 2.0 Robot
Receiver program shown in Figure 0-42 that will run on the sbRIO target by double clicking it in
the project explorer. Dont be concerned if you dont understand the port and other items on the
front panel. Just click the run button to deploy and run the program on DaNI. Set the Master
switch to on and the motor switch to off.

Before test driving, move the servo angle slider to confirm that the host is communicating with
the sbRIO program. You wont use the servo angle slider while driving, just use it to test
communication before driving. Turn the Motor switch on and move the Forward Velocity and
Angular Velocity sliders to drive DaNI. Test drive DaNI until you have good control over
DaNis speed and direction. Then repeat the path from the previous section of the experiment
with remote control to compare with autonomous operation and answer the following questions.
DaNIs only feedback is from the ultrasonic transducer and the wheel encoders.

2. DaNI Ultrasonic Transducer

Characteristic
Objective:
Experiment with and characterize an ultrasonic transducer. Learn about the LabVIEW
programming environment and learn some simple LabVIEW programming techniques.

Theory:
In the previous experiment DaNI roamed around an area that you designed. DaNI reacted when it
saw an obstacle and it may have collided with some obstacles. This experiment will help you
understand why DaNI detected some obstacles and not others. As you know from the previous
experiment, DaNI acquires data about obstacles from an ultrasonic transducer.
The operational description and s) burst of ultrasonic energy with 40 kHzspecifications report
that PING transmits a short (200 frequency. Then it stops transmitting and listens for a
reflected signal. The burst travels at 331.5 m/s to an obstacle and is reflected back to the
transducer. The reflected signal could take up to 18.5 ms to return if the reflecting object is 3 m
from the transducer. PING))) does not transmit any bursts while waiting for the receive signal.
After receiving a reflection or timing out, s before transmitting a new burst.because no
reflection was received, PING))) waits 200 Consequently, the period between bursts is about
18.5 ms + 2 * 0.2 ms = 18.9 ms. The transducer is connected to the sbRIO computer and the
sbRIO acquires the transducer signal data. The PING))) sensor provides an output pulse to the
sbRIO that will terminate when the echo is detected, hence the width of this pulse corresponds to
the distance to the target.

Coding/front panel/block diagram:

Result:

From the investigations in this experiment, an ultrasonic transducer measures distance to an

object by transmitting ultrasonic energy. The transmitted energy might contact an object that will
reflect it back to the transducer. So after transmitting, the transducer becomes a receiver. Many
surfaces can reflect ultrasonic energy at different reflection strengths. Some surfaces absorb most
of the energy and reflect little. The receiver needs to incorporate a threshold to distinguish the
reflection from an object from noise. So a received signal must be strong enough to exceed the
threshold.
6

4.DaNI Open Loop motor control

Objective:
Discover how to control motors. Learn about motor drivers, PWM, and PID. Experiment with
and characterize an encoder. Learn about VIs to control motors and how to build simple motor
control programs. Learn how to automatically terminate programs. Learn about conversions
between motor command units and user preferred units.

Theory:
Pulse width modulation (PWM) is a technique in which a series of digital pulses is used to
control an analog circuit. The length and frequency of these pulses determines the total power
delivered to the circuit. PWM signals are most commonly used to control DC motors, but have
many other applications ranging from controlling valves or pumps to adjusting the brightness of
an LED. The digital pulse train that makes up a PWM signal has a fixed frequency and varies the
pulse width to alter the average power of the signal. The ratio of the pulse width to the period is
referred to as the duty cycle of the signal.

Block Diagram:

Result:
The robot moves in a straight line by using linear velocities of 5 RPM, 10 RPM, and 15 RPM.
7

5. Closed Loop Motor Control

Theory:
An encoder is an electrical mechanical device that converts linear or rotary displacement into
digital or pulse signals. An optical encoder uses a rotating disk, a light source, and a
photodetector (light sensor). The disk is mounted on the rotating motor shaft and has patterns of
opaque and transparent sectors. The encoder light source, pointed at a photodetector, passes
through the disk sectors. As the disk rotates, these patterns interrupt the light emitted onto the
photodetector, generating a digital or pulse signal output.
The optical encoders on the Pitsco DC motors require a 5V supply and produce 100
counts/revolution (CPR) and 400 pulses/revolution (PPR). Calculate the distance moved per
count and pulse. 0.3192 m/revolution / 100 counts/revolution = 0.003192 m/count 0.3192
m/revolution / 400 pulses/revolution = 0.000798 m/pulse Considering the 400 pulses/revolution
and DaNIs wheel circumference the resolution in linear travel distance is 0.000798 m or 0.798
mm
Using the encoder information to develop a VI that reports the difference between the measured
and calculated distances in the Simple Drive Timed VI.
In a typical control system, the process variable is the system parameter that needs to be
controlled, in this instance rotational velocity in radians/second. A transducer, in this instance the
encoders, measures the process variable and provides feedback to the control system. The set
point is the desired or command value for the process variable, such as 10 rad/s. At any given
moment, the difference between the process variable and the set point is used by the control
system algorithm (compensator), to determine the desired actuator output to drive the system
(plant). For instance, if the measured velocity process variable is 9 rad/s and the desired set point
is 10 rad/s, then the actuator output specified by the control algorithm might be to increase the
motor velocity. This is called a closed loop control system, because the process of reading
sensors to provide constant feedback and calculating the desired actuator output is repeated
continuously and at a fixed loop rate

Block Diagram:

Result:

6. DaNI Kinematics
Objective:
Turning and rotating of DANI and drive it from start to a certain goal.
Discover the steering frame. Add motor control of turning and rotating to provide the capability
to drive from point A to point B.

Theory
Kinematics is the fundamental understanding of how a mechanism (DaNI in this instance)
moves. It doesnt consider the forces involved, just the motion. Kinematics is critical to
determining where a robot can go and how to get it there. In this instance, motion means driving
from point A to point B given the position and orientation in a reference coordinate system such
as one shown in Figure 0-1. Global coordinates describe the area where the robot operates, and
local coordinates describe the orientation and position of the robot. The total dimensionality of
the DaNI differential drive robot chassis on the plane is three, two for position in the plane and
one for orientation along the vertical axis, which is orthogonal to the plane.

Block Diagram

10

8. Rhino Robotic Arm

Introduction:
The XR-4 robotic arm, developed by Rhino Robotics, is a semi-enclosed five axis design with all
completely independent axes that can be controlled simultaneously. Powered by six permanentmagnet, direct-current (PMDC) servo motors with integral gearboxes and incremental encoders,
the arm executes real time closed loop operations.
In addition, the XR-4 is pre-programmed to return to its home position every time upon startup.
This function is used to initialize the incremental encoders which provide feedback information
to the controller. The following describe the mechanical parts and controllers of the robotic arm.
.Theory:

Rhino robot system consists of:

XR-4 robotic arm,
Mark IV controller,
Robot control computer,
Teach pendant.
The Rhino robot system has both a teach terminal and a teach pendant to program the robot arm
and work cell hardware. The Rhino XR-4 teach pendant, is connected to the MARK IV by a
ribbon cable and connector on the front panel of the controller. The pendant is a 32 key
microprocessor controlled programming unit with a 7 character digital display and a reset button
to restart the controller and act as an emergency stop. Fifteen of the keys are used for program
development and 16 provide motion control for the 5 arm axis servos, gripper servo, and 2
auxiliary servos. The teach pendant supports work cell program development in two ways: 1.
complete work cell programs can be generated using only the teach pendant keys, 2. arm
positions for programs written on the teach pendant terminal are taught using the teach pendant.
The teach pendant, the microcomputer in a Rhino robot system, is connected to the MARK IV
controller through the RS-232C serial pot.

11

Teaching Pendant:

12

9. Configuring Arm geometry

TYPE Robo TALK FOR WINDOWS
TRON
TYPE A
SETI A=100
BEEP
TYPE A
IF A=100 THEN TYPE A EQUALS 100
GOTO 200
TYPE THIS WILL NOT BE PRINTED
200

TYPE THIS WILL BE PRINTED

MOVE 300,300,300,300,300
MOVE TO 0,0,0,0,0
TYPE TURN ON SWITCH 1

10

IFSIG 9 THEN TYPE SWITCH 1 IS ON

IF SIG -9 THEN GOTO 10
FOR B=1 TO 8
OUTSIG B
NEXT
SETI B=8

40

OUTSIG B
SETI B=B-1
IF B>0 THEN GOTO 40
CLOSE -1
OPEN -1
GOSUB 1000

13

10. Computer Language Coding

HOME
BEEP
TROFF
TRON
10 IFSIG 9 THEN TYPE SWTIVH 1 IS ON
IF SIG -9 THEN GOTO 10
FOR B=1 TO 8
OUTSIG B
PAUSE 10
NEXT
SETIB -8
40

OUTSIG B
SETI B=B-1
IF B>0 THEN GOTO 40
TYPE PROGRAM
OPEN -1
WAIT FOR 9,10
HOME

14

11. Movement in Closed Enviroment

HOME
10

40

500

600

BEEP
IFSIG 9 THEN TYPE SWITCH 1 IS ON
IF SIG -9 THEN GOTO 10
FOR B=1 TO 8
OUTSIG B
NEXT
SETI B-8
OUTSIG B
SETI B-B-1
IF B>0 THEN GOTO 40
CLOSE -1
OPEN -1
TYPE WAIT FOR 9,10
WAITFOR 9,10
MOVE 0,0,100,100,300
HOME
OFFLINE F
MOVE 0,0,100,100,300
HOME
OFFLINE F
MOVE 0,0,100,100,200
ONLINE F
TROFF
TRON
IFMICRO C THEN GOTO 600
MOVE 0,-50,0,0,0
GOTO 500
HOME
TYPE THE PROGRAM END
INPUT ENTER 1 TO RETURN THE PROGRAM OR 0 TO EXIT,B
IF B=1 THEN GOTO 10
END
RETURN

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12. Lynx Motion

The AL5D robotic arm delivers fast, accurate, and repeatable movement. The robot features: base rotation, single
plane shoulder, elbow, wrist motion, a functional gripper, and optional wrist rotate. The AL5D robotic arm is an
affordable system with a time tested rock solid design that will last and last. Everything needed to assemble and
operate the robot is included in the kit, with several different software control options.
The aluminum robotic arm is made from our Servo Erector Set components for the ultimate in flexibility and
expandability. The kit consists of black anodized aluminum brackets, Aluminum tubing and hubs, custom injection
molded components, and precision laser-cut Lexan components. The arm uses 1 x HS-485HB in the base, 1 x HS805BB in the shoulder, 1 x HS-755HB in the elbow, 1 x HS-645MG in the wrist, and 1 x HS-422 in the gripper.]

LabView Programming

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